how to obtein odometry from joint_states?
Hi, I'm facing a trouble with joint_states. I need to calculate the odometry from that topic. The problem is joint_states has never the velocity set to 0, so there's an increasing error in position of the joint and the error on the odometry grows over time. What can I do?
Probably not what you came to hear, but:
Figure out why this happens I would say:
gvdhoorn, I know the velocity in joint_states is never set to 0 but I'd like to know if there's a workaround to exactly calculate the odometry using that topic. I need to use it
Perhaps you could calculate the derivative yourself based on two
JointStatemessages? But if the velocity never becomes zero, I doubtdx/dtwill be.Personally I would try to understand the cause, and see whether that could be addressed, instead of looking for work-arounds. But that may not be possible. Only you know that.